Control of robots sharing their workspace with humans: an energetic approach to safety

被引：0
|
作者：
Meguenani, Anis [1 ,2 ]
Padois, Vincent [1 ,2 ]
Bidaud, Philippe [1 ,2 ,3 ]
机构：
[1] Univ Paris 06, Sorbonne Univ, UMR 7222, Inst Syst Intelligents & Robot, F-75005 Paris, France
[2] CNRS, UMR 7222, Inst Syst Intelligents & Robot, F-75005 Paris, France
[3] Off Natl Etud & Rech Aerosp, F-91123 Palaiseau, France
来源：
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose a physically meaningful energy-related safety indicator for robots sharing their workspace with humans. Based on this indicator, a safety criterion accounting for the breaking capabilities of the robot is included as a quadratic constraint in the control algorithm. This constraint is modulated by the distance between the human operator and the end-effector of the robot. The control algorithm is formulated as an optimization problem and computes the actuation torque of a robotic manipulator given some task to be performed and physical constraints to respect. The overall framework is validated in a physics simulation software on a Kuka LWR4 and different behaviours of the robot towards a considered obstacle in its environment are evaluated and discussed.
引用
收藏
页码：4678 / 4684
页数：7
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